CN114505858B

CN114505858B - Cantilever shaft butt joint control method and device

Info

Publication number: CN114505858B
Application number: CN202210147098.8A
Authority: CN
Inventors: 李�杰
Original assignee: Beijing Jizhijia Technology Co Ltd
Current assignee: Beijing Jizhijia Technology Co Ltd
Priority date: 2022-02-17
Filing date: 2022-02-17
Publication date: 2023-08-18
Anticipated expiration: 2042-02-17
Also published as: CN114505858A

Abstract

The invention provides a cantilever shaft butt joint control method and device. The method comprises the following steps: obtaining current position deviation and angle deviation of the cantilever shaft and the opposite connecting shaft of the machine table under a current coordinate system, obtaining pitching amount of the cantilever shaft in a corresponding direction according to the angle deviation, respectively determining correction amount of the cantilever shaft in a corresponding direction by combining unit distance corresponding to a pre-calibrated pitching unit angle in the corresponding direction, obtaining adjustment amount of the cantilever shaft in the corresponding direction after summing the displacement amount of the cantilever shaft in the corresponding direction obtained according to the current position deviation, the correction amount of the corresponding direction and the longitudinal correction, and adjusting the pitching angle of the cantilever shaft according to the pitching amount. According to the method, the pitching angle and the distance of the cantilever shaft are calibrated in advance, data calibrated in advance are directly called after the relative position is detected during butt joint, and the calculated displacement is corrected to obtain the final adjustment quantity, so that one-time adjustment is achieved, repeated and repeated adjustment is avoided, and the adjustment process is simpler.

Description

Cantilever shaft butt joint control method and device

Technical Field

The invention relates to the technical field of logistics transport, in particular to a cantilever shaft butt joint control method and device.

Background

In order to reduce the labor intensity of operators in the logistics carrying process, a loading device (such as a six-inch-shaft single-cantilever loading robot) can be generally adopted to realize automatic loading of heavier materials. In the automatic feeding process, in order to smoothly push materials onto the machine butt joint shaft of the target device from the cantilever shaft of the feeding device, the cantilever shaft and the machine butt joint shaft are required to be accurately butted.

Fig. 1 schematically illustrates a docking scenario of a feeding device and a target device, where the feeding device includes a cantilever shaft 11 and a pushing mechanism 12, and the target device includes a platform docking shaft 21, where the cantilever shaft 11 and the platform docking shaft 21 are parallel to the ground, as shown in fig. 1. Typically, a calibration device is mounted on an end of the machine butt joint shaft 21, and a position detection device is mounted on an end of the cantilever shaft 11, wherein the calibration device is used for indicating a reference position of butt joint of the cantilever shaft 11, and the position detection device is used for detecting a deviation position of the cantilever shaft 11 and the machine butt joint shaft 21, and detecting an angle deviation of an end face of the cantilever shaft 11 and an end face of the machine butt joint shaft 21. In the feeding process, after the cantilever shaft 11 and the machine butt joint shaft 21 are in butt joint, the material A sleeved on the cantilever shaft 11 is pushed onto the machine butt joint shaft 21 by the pushing mechanism 12, so that automatic feeding of the material is completed.

In the conventional cantilever shaft butt joint control method, the central axis direction of the cantilever shaft 11 is taken as the y axis direction, after the cantilever shaft 11 approaches the machine butt joint shaft 21 and reaches a preset initial position, the cantilever shaft 11 is controlled to correspondingly move in the x axis direction and the z axis direction according to the detected deviation of the cantilever shaft 11 and the machine butt joint shaft 21 in the x axis direction and the z axis direction, and then the cantilever shaft 11 is controlled to correspondingly pitch in the x axis direction and the z axis direction according to the detected angle deviation of the end face of the cantilever shaft 11 relative to the end face of the machine butt joint shaft 21, so that the concentricity of the cantilever shaft 11 and the machine butt joint shaft 21 finally meets the butt joint requirement. However, since the adjustment of the angle generally causes a change in distance, the above-mentioned cantilever shaft butt joint control method is prone to cause a new deviation between the cantilever shaft 11 and the platform butt joint shaft 21 after adjusting the pitch angle of the cantilever shaft 11, and further, the adjustment process is complicated.

Disclosure of Invention

The invention provides a cantilever shaft butt joint control method and device, which can be used for solving the technical problems that the conventional cantilever shaft butt joint control method is easy to adjust repeatedly and has a complex adjusting process.

In a first aspect, an embodiment of the present invention provides a cantilever shaft docking control method, configured to control a cantilever shaft in a feeding device to dock with a docking shaft of a machine in a target device, including:

under a current coordinate system, acquiring the current position deviation of the cantilever shaft and the machine butt joint shaft, wherein the y-axis direction of the current coordinate system is the central axis direction of the cantilever shaft under an initial position, the x-axis direction is the horizontal direction perpendicular to the cantilever shaft, the z-axis direction is the vertical direction perpendicular to the cantilever shaft, and the origin is any point on the central axis of the cantilever shaft;

acquiring the angle deviation of the end face of the cantilever shaft relative to the end face of the machine butt joint shaft;

according to the angle deviation, acquiring the transverse pitching amount of the cantilever shaft along the x-axis direction and the longitudinal pitching amount along the z-axis direction;

determining a transverse correction amount of the cantilever shaft according to a unit distance corresponding to a unit angle of pitching of the cantilever shaft along the x-axis direction, which is calibrated in advance, and the transverse pitching amount;

determining a longitudinal correction amount of the cantilever shaft according to a unit distance corresponding to a unit angle of pitching of the cantilever shaft along the z-axis direction, which is calibrated in advance, and the longitudinal pitching amount;

Determining the sum of the lateral displacement of the cantilever shaft along the x-axis direction and the lateral correction amount as an adjustment amount along the x-axis direction, wherein the lateral displacement is acquired according to the current position deviation;

determining the sum of the longitudinal displacement of the cantilever shaft along the z-axis direction and the longitudinal correction amount as an adjustment amount of the z-axis direction, wherein the longitudinal displacement is acquired according to the current position deviation;

adjusting the position of the cantilever shaft according to the adjustment amount in the x-axis direction and the adjustment amount in the z-axis direction;

and adjusting the pitching angle of the cantilever shaft according to the transverse pitching amount and the longitudinal pitching amount.

In an alternative embodiment, the unit distance corresponding to the unit angle of pitching of the cantilever shaft along the x-axis direction is calibrated by the following manner:

acquiring a first limit angle which can be reached by pitching the cantilever shaft along the positive direction of the x-axis, and acquiring a first x-axis coordinate of a center point of the end face of the cantilever shaft when the cantilever shaft is pitching to the first limit angle;

acquiring a second limit angle which can be reached by pitching the cantilever shaft along the negative direction of the x-axis, and acquiring a second x-axis coordinate of a center point of the end face of the cantilever shaft when the cantilever shaft is pitching to the second limit angle;

Determining the sum of the absolute value of the first limit angle and the absolute value of the second limit angle as a transverse pitching maximum angle;

determining an absolute value of a difference between the first x-axis coordinate and the second x-axis coordinate as a lateral pitch maximum distance at which the cantilever axis is pitched in the x-axis direction;

equally dividing the maximum horizontal pitching angle according to the preset horizontal unit equal dividing quantity to obtain the unit angle of pitching of the cantilever shaft along the x-axis direction;

and equally dividing the maximum distance of the transverse pitching according to the equal number of the transverse units to obtain the unit distance corresponding to the unit angle of the pitching of the cantilever shaft along the x-axis direction.

In an alternative embodiment, the determining the lateral correction amount of the cantilever shaft according to the unit distance corresponding to the unit angle of the cantilever shaft pitching along the x-axis direction and the lateral pitching amount, which are calibrated in advance, includes:

determining a transverse correction distance corresponding to the transverse pitching angle according to a unit distance corresponding to a unit angle of pitching of the cantilever shaft along the x-axis direction, which is calibrated in advance, and the transverse pitching angle of the transverse pitching amount;

determining the opposite direction of the transverse pitching amount as a transverse correction direction;

And determining the lateral correction distance and the lateral correction direction as a lateral correction amount of the cantilever shaft.

In an alternative embodiment, the unit distance corresponding to the unit angle of pitching of the cantilever shaft along the z-axis direction is calibrated by the following method:

acquiring a third limit angle which can be reached by pitching the cantilever shaft along the positive direction of the z axis, and acquiring a first z axis coordinate of a center point of the end face of the cantilever shaft when the cantilever shaft is pitching to the third limit angle;

acquiring a fourth limit angle which can be reached by pitching the cantilever shaft along the negative direction of the z axis, and acquiring a second z axis coordinate of a center point of the end face of the cantilever shaft when the cantilever shaft is pitching to the fourth limit angle;

determining the sum of the absolute value of the third limit angle and the absolute value of the fourth limit angle as a longitudinal pitching maximum angle;

determining an absolute value of a difference between the first z-axis coordinate and the second z-axis coordinate as a longitudinal pitch maximum distance at which the cantilever axis is pitched in the z-axis direction;

equally dividing the longitudinal pitching maximum angle according to the preset longitudinal unit equal dividing quantity to obtain a unit angle of pitching the cantilever shaft along the z-axis direction;

And equally dividing the longitudinal pitching maximum distance according to the longitudinal unit equally dividing quantity to obtain the unit distance corresponding to the unit angle of pitching of the cantilever shaft along the z-axis direction.

In an alternative embodiment, the determining the longitudinal correction amount of the cantilever shaft according to the unit distance corresponding to the unit angle of the cantilever shaft pitching along the z-axis direction and the longitudinal pitching amount, includes:

determining a longitudinal correction distance corresponding to the longitudinal pitching angle according to a unit distance corresponding to a unit angle of pitching of the cantilever shaft along the z-axis direction which is calibrated in advance and the longitudinal pitching angle of the longitudinal pitching amount;

determining the opposite direction of the longitudinal pitching amount as a longitudinal correction direction;

and determining the longitudinal correction distance and the longitudinal correction direction as a longitudinal correction amount of the cantilever shaft.

In an alternative embodiment, the obtaining the current position deviation of the cantilever shaft and the docking shaft of the machine includes:

acquiring a reference x-axis coordinate and a reference z-axis coordinate of a center point of an end face of the machine butt joint shaft;

acquiring the current x-axis coordinate and the current z-axis coordinate of the center point of the end face of the cantilever shaft;

Determining a difference value between the reference x-axis coordinate and the current x-axis coordinate as a current x-axis deviation, and determining a difference value between the reference z-axis coordinate and the current z-axis coordinate as a current z-axis deviation;

and determining the current x-axis deviation and the current z-axis deviation as the current position deviation of the cantilever shaft and the machine butt joint shaft.

In an alternative embodiment, the lateral displacement is obtained by:

determining the absolute value of the current x-axis deviation as the transverse displacement distance of the cantilever axis along the x-axis direction;

determining the x direction corresponding to the current x-axis deviation as the transverse displacement direction of the cantilever axis along the x-axis direction;

and determining the transverse displacement distance and the transverse displacement direction as the transverse displacement amount.

In an alternative embodiment, the longitudinal displacement is obtained by:

determining the absolute value of the current z-axis deviation as the longitudinal displacement distance of the cantilever axis along the z-axis direction;

determining the z direction corresponding to the current z-axis deviation as the longitudinal displacement direction of the cantilever axis along the z-axis direction;

and determining the longitudinal displacement distance and the longitudinal displacement direction as the longitudinal displacement amount.

In an alternative embodiment, the obtaining the angular deviation of the end face of the cantilever shaft relative to the end face of the machine butt axle includes:

the angular deviation of the end face of the cantilever shaft relative to the end face of the machine butt shaft is acquired by a probe provided in advance on the end face of the cantilever shaft.

In a second aspect, an embodiment of the present invention provides a cantilever shaft docking control device, configured to control a cantilever shaft in a feeding device to dock with a docking shaft of a machine in a target device, including:

the current position deviation acquisition module is used for acquiring the current position deviation of the cantilever shaft and the machine butt joint shaft under a current coordinate system, wherein the y-axis direction of the current coordinate system is the central axis direction of the cantilever shaft under an initial position, the x-axis direction is the horizontal direction perpendicular to the cantilever shaft, the z-axis direction is the vertical direction perpendicular to the cantilever shaft, and the origin is any point on the central axis of the cantilever shaft;

the angle deviation acquisition module is used for acquiring the angle deviation of the end face of the cantilever shaft relative to the end face of the machine butt joint shaft;

the pitching amount acquisition module is used for acquiring the transverse pitching amount of the cantilever shaft along the x-axis direction and the longitudinal pitching amount of the cantilever shaft along the z-axis direction according to the angle deviation;

The transverse correction amount determining module is used for determining the transverse correction amount of the cantilever shaft according to the unit distance corresponding to the unit angle of the cantilever shaft pitching along the x-axis direction, which is calibrated in advance, and the transverse pitching amount;

the longitudinal correction amount determining module is used for determining the longitudinal correction amount of the cantilever shaft according to a unit distance corresponding to a unit angle of pitching of the cantilever shaft along the z-axis direction, which is calibrated in advance, and the longitudinal pitching amount;

the adjustment amount determining module in the x-axis direction is used for determining the sum of the transverse displacement amount of the cantilever shaft along the x-axis direction and the transverse correction amount as the adjustment amount in the x-axis direction, and the transverse displacement amount is obtained according to the current position deviation;

the adjustment amount determining module in the z-axis direction is used for determining the sum of the longitudinal displacement amount of the cantilever shaft along the z-axis direction and the longitudinal correction amount as the adjustment amount in the z-axis direction, and the longitudinal displacement amount is acquired according to the current position deviation;

the position adjusting module is used for adjusting the position of the cantilever shaft according to the adjustment amount in the x-axis direction and the adjustment amount in the z-axis direction;

and the pitching angle adjusting module is used for adjusting the pitching angle of the cantilever shaft according to the transverse pitching amount and the longitudinal pitching amount.

In an alternative embodiment, the lateral correction amount determination module includes:

the transverse correction distance determining sub-module is used for determining the transverse correction distance corresponding to the transverse pitching angle according to the unit distance corresponding to the unit angle of pitching of the cantilever shaft along the x-axis direction, which is calibrated in advance, and the transverse pitching angle of the transverse pitching amount;

a lateral correction direction determination sub-module configured to determine a direction opposite to a lateral pitch direction of the lateral pitch amount as a lateral correction direction;

and the transverse correction amount determining submodule is used for determining the transverse correction distance and the transverse correction direction as the transverse correction amount of the cantilever shaft.

In an alternative embodiment, the longitudinal modifier determination module includes:

the longitudinal correction distance determining sub-module is used for determining a longitudinal correction distance corresponding to the longitudinal pitching angle according to a unit distance corresponding to a unit angle of pitching of the cantilever shaft along the z-axis direction, which is calibrated in advance, and the longitudinal pitching angle of the longitudinal pitching amount;

a longitudinal correction direction determination sub-module configured to determine a direction opposite to a longitudinal pitch direction of the longitudinal pitch amount as a longitudinal correction direction;

And a longitudinal correction amount determination sub-module for determining the longitudinal correction distance and the longitudinal correction direction as the longitudinal correction amount of the cantilever shaft.

In an alternative embodiment, the current position deviation obtaining module includes:

the reference coordinate acquisition sub-module is used for acquiring reference x-axis coordinates and reference z-axis coordinates of a center point of the end face of the machine butt joint shaft;

the current coordinate acquisition sub-module is used for acquiring the current x-axis coordinate and the current z-axis coordinate of the center point of the end face of the cantilever shaft;

a current deviation determining sub-module, configured to determine a difference between the reference x-axis coordinate and the current x-axis coordinate as a current x-axis deviation, and determine a difference between the reference z-axis coordinate and the current z-axis coordinate as a current z-axis deviation;

and the current position deviation determining submodule is used for determining the current x-axis deviation and the current z-axis deviation as the current position deviation of the cantilever shaft and the machine butt joint shaft.

In an alternative embodiment, the lateral displacement is obtained by:

In an alternative embodiment, the longitudinal displacement is obtained by:

In an alternative embodiment, the angular deviation acquisition module includes:

In this way, in the butt joint control method, the machine is used as a reference, the current position deviation and the angle deviation of the cantilever shaft and the machine are obtained under the current coordinate system, then the transverse pitching amount and the longitudinal pitching amount of the cantilever shaft are obtained according to the angle deviation, then the transverse correction amount and the longitudinal correction amount of the cantilever shaft are respectively determined according to the unit distance corresponding to the unit angle of the cantilever shaft pitching along the x-axis direction and the unit distance corresponding to the unit angle of the cantilever shaft pitching along the z-axis direction, the transverse displacement amount and the longitudinal displacement amount obtained according to the current position deviation are summed with the corresponding transverse correction amount and the longitudinal correction amount respectively to obtain the final adjustment amount, the position of the cantilever shaft is adjusted according to the final adjustment amount of each direction, and the pitching angle of the cantilever shaft is adjusted according to the transverse pitching amount and the longitudinal pitching amount. According to the whole butt joint control method, pitching angles and distances of the cantilever shafts in the x-axis direction and the z-axis direction are calibrated in advance to form reverse adjustment standards, reverse thrust thinking is adopted in the practical application process, after the relative position is detected, forward calibration adjustment data of the reverse adjustment standards are directly called, calculated displacement is corrected and then adjusted, and therefore one-time adjustment can be achieved, the problem of repeated adjustment is avoided, and the adjustment process is simple.

Drawings

FIG. 1 is a schematic diagram of a docking scenario of a loading device and a target device;

fig. 2 is a schematic overall flow diagram corresponding to a cantilever shaft docking control method according to an embodiment of the present application;

FIG. 3 is a schematic diagram of a current coordinate system according to an embodiment of the present application;

fig. 4 is a schematic structural diagram of a cantilever shaft docking control device according to an embodiment of the present application.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the present application more apparent, the embodiments of the present application will be described in further detail with reference to the accompanying drawings.

First, an application scenario of an embodiment of the present application will be described with reference to the accompanying drawings.

Fig. 1 schematically illustrates a docking scenario of a feeding device and a target device, where the feeding device includes a cantilever shaft 11 and a pushing mechanism 12, and the target device includes a platform docking shaft 21, where the cantilever shaft 11 and the platform docking shaft 21 are parallel to the ground, as shown in fig. 1. In the feeding process, after the cantilever shaft 11 and the machine butt joint shaft 21 are in butt joint, the material A sleeved on the cantilever shaft 11 is pushed onto the machine butt joint shaft 21 by the pushing mechanism 12, so that automatic feeding of the material is completed.

In the above application scenario, the cantilever shaft 11 and the platform butt-joint drawer 21 have a position deviation and an angle deviation before butt-joint, and the position and the pitch angle of the cantilever shaft 11 need to be adjusted respectively, however, the adjustment of the angle generally causes a change in distance, that is, after the position and the pitch angle of the cantilever shaft 11 are adjusted, a new position deviation may be generated between the cantilever shaft 11 and the platform butt-joint shaft 21, and further, a problem of repeated adjustment occurs, and the adjustment process is complex.

In order to solve the problem that the conventional cantilever shaft butt joint control method is easy to adjust repeatedly and has a complex adjusting process, the embodiment of the invention provides a cantilever shaft butt joint control method and device, which are used for controlling a cantilever shaft in a feeding device to butt joint with a machine butt joint shaft in a target device. It should be noted that, the cantilever shaft provided by the embodiment of the invention can translate along the horizontal direction and the vertical direction, and can pitch along the horizontal direction and the vertical direction, wherein the pitching refers to that the root of the cantilever shaft is fixed, and the whole cantilever shaft swings. The following describes a cantilever shaft butt joint control method according to an embodiment of the present invention with reference to the accompanying drawings.

Fig. 2 schematically illustrates an overall flow diagram corresponding to a cantilever-shaft docking control method provided by the embodiment of the present invention, where, as shown in fig. 2, the cantilever-shaft docking control method provided by the embodiment of the present invention specifically includes the following steps:

201: and under the current coordinate system, acquiring the current position deviation of the cantilever shaft and the machine butt joint shaft.

Fig. 3 is a schematic diagram illustrating a current coordinate system provided in an embodiment of the present invention, where, as shown in fig. 3, a y-axis direction of the current coordinate system is a central axis direction of a cantilever shaft in an initial position, an x-axis direction is a horizontal direction perpendicular to the cantilever shaft, a z-axis direction is a vertical direction perpendicular to the cantilever shaft, and an origin O is any point on the central axis of the cantilever shaft.

It should be noted that, in order to improve the docking efficiency and accuracy, the method for docking a cantilever shaft provided by the embodiment of the invention starts to operate after the cantilever shaft moves to a preset initial position along the y-axis direction of the current coordinate system, where the preset initial position is a position where the distance between the cantilever shaft and the end surface of the machine docking shaft is within a preset range, that is, the initial rough adjustment should be performed on the cantilever shaft, so that the cantilever shaft is as close to the machine docking shaft as possible, and then the method provided by the embodiment of the invention is used to be beneficial to improving the docking efficiency.

It should be further noted that, the current coordinate system provided by the embodiment of the present invention is established by taking the cantilever shaft at the initial position as a reference, and the current coordinate system is not changed in the subsequent adjustment process of the cantilever shaft.

In one possible embodiment, a machine vision device may be used to obtain the current positional deviation of the cantilever shaft from the table docking shaft, such as a camera.

In other possible embodiments, other devices may be used to obtain the current position deviation, such as a laser device, which is not limited in particular.

Further, the current position deviation of the cantilever shaft and the machine butt joint shaft can be obtained through the following steps:

Step one, acquiring reference x-axis coordinates and reference z-axis coordinates of a center point of an end face of a machine butt joint shaft.

And step two, acquiring the current x-axis coordinate and the current z-axis coordinate of the center point of the end face of the cantilever shaft.

In the initial position, the current y-axis coordinate of the center point of the end surface of the cantilever shaft is zero.

And thirdly, determining a difference value between the reference x-axis coordinate and the current x-axis coordinate as a current x-axis deviation, and determining a difference value between the reference z-axis coordinate and the current z-axis coordinate as a current z-axis deviation.

Specifically, the difference between the reference x-axis coordinate and the current x-axis coordinate is the difference obtained by subtracting the current x-axis coordinate from the reference x-axis coordinate, and the difference between the reference z-axis coordinate and the current z-axis coordinate is the difference obtained by subtracting the current z-axis coordinate from the reference z-axis coordinate.

And step four, determining the current x-axis deviation and the current z-axis deviation as the current position deviation of the cantilever shaft and the machine butt joint shaft.

Therefore, the current position deviation can be accurately obtained through the mode, and further the follow-up accurate position adjustment is facilitated.

202: the angular deviation of the end face of the cantilever shaft relative to the end face of the machine butt joint shaft is obtained.

In one possible embodiment, the angular deviation of the end face of the cantilever shaft with respect to the end face of the machine counter-shaft may be obtained using a probe that is provided in advance on the end face of the cantilever shaft.

Specifically, the number of the probes is three, and the probes are annularly distributed on the end face of the cantilever shaft.

In other possible examples, the angular deviation of the end face of the cantilever shaft with respect to the end face of the machine counter-shaft may be obtained by a visual detection method, which is not particularly limited.

203: and according to the angle deviation, acquiring the transverse pitching amount of the cantilever shaft along the x-axis direction and the longitudinal pitching amount along the z-axis direction.

Specifically, the lateral pitching amount and the longitudinal pitching amount are vectors, the lateral pitching amount includes a lateral pitching angle and a lateral pitching direction, and the longitudinal pitching amount includes a longitudinal pitching angle and a longitudinal pitching direction.

According to the angle deviation, the end face of the machine butt joint shaft is used as a reference, and in order to keep parallel with the end face of the machine butt joint shaft, the transverse pitching angle of the cantilever shaft, which needs to pitch along the x-axis direction, and the transverse pitching direction jointly form the transverse pitching amount of the cantilever shaft, which needs to pitch along the x-axis direction, the longitudinal pitching angle of the cantilever shaft, which needs to pitch along the z-axis direction, and the longitudinal pitching direction jointly form the longitudinal pitching amount of the cantilever shaft, which is along the z-axis direction.

204: and determining the transverse correction quantity of the cantilever shaft according to the unit distance corresponding to the unit angle of pitching of the pre-calibrated cantilever shaft along the x-axis direction and the transverse pitching quantity.

In one possible embodiment, the unit distance corresponding to the unit angle of pitching of the cantilever axis along the x-axis direction can be calibrated by the following steps:

the method comprises the steps of obtaining a first limit angle which can be reached by pitching the cantilever shaft along the positive direction of the x axis, and obtaining a first x axis coordinate of a center point of the end face of the cantilever shaft when the cantilever shaft is pitching to the first limit angle.

Specifically, the cantilever shaft can be controlled to swing to a limit position along the positive direction of the x-axis of the current coordinate system, and at the moment, the included angle between the central axis of the cantilever shaft and the y-axis is a first limit angle, and the first limit angle is a positive value.

When the cantilever shaft is pitching to a first limit angle, at the moment, the x-axis coordinate of the center point of the end face of the cantilever shaft is the first x-axis coordinate, and the first x-axis coordinate is a positive value.

And secondly, acquiring a second limit angle which can be achieved by pitching the cantilever shaft along the negative direction of the x axis, and acquiring a second x axis coordinate of the center point of the end face of the cantilever shaft when the cantilever shaft is pitching to the second limit angle.

Specifically, the cantilever shaft can be controlled to swing to the limit position along the negative direction of the x-axis of the current coordinate system, and at the moment, the included angle between the central axis of the cantilever shaft and the y-axis is the second limit angle, and the second limit angle is a negative value.

When the cantilever shaft is pitching to a second limit angle, the x-axis coordinate of the center point of the end face of the cantilever shaft is the second x-axis coordinate, and the second x-axis coordinate is a negative value.

And thirdly, determining the sum of the absolute value of the first limit angle and the absolute value of the second limit angle as the maximum angle of the transverse pitching.

And fourthly, determining the absolute value of the difference value between the first x-axis coordinate and the second x-axis coordinate as the maximum transverse pitching distance of the cantilever axis pitching along the x-axis direction.

And fifthly, equally dividing the maximum horizontal pitching angle according to the preset horizontal unit equal dividing number to obtain the unit pitching angle of the cantilever shaft along the x-axis direction.

Specifically, the number of the horizontal unit aliquots can be set according to actual needs, and in general, the more the number of aliquots is set, the more accurate the calibration should be, and the setting should be within a reasonable range.

And sixthly, equally dividing the maximum distance of the transverse pitching according to the equal number of the transverse units to obtain the unit distance corresponding to the unit angle of pitching of the cantilever shaft along the x-axis direction.

Illustratively, the first limit angle that can be reached by pitching the cantilever shaft along the positive x-axis direction is 60 °, the first x-axis coordinate of the center point of the end face of the cantilever shaft is 10cm, the second limit angle that can be reached by pitching the cantilever shaft along the negative x-axis direction is-60 °, the second x-axis coordinate of the center point of the end face of the cantilever shaft is-10 cm, the maximum transverse pitch angle is 120 °, the maximum transverse pitch distance is 20cm, the unit angle of pitching the cantilever shaft along the x-axis direction is 1.2 °, and the unit distance corresponding to the unit angle of pitching the cantilever shaft along the x-axis direction is 0.2cm.

Therefore, the method is simple to operate, easy to implement and high in accuracy.

In other possible embodiments, calibration may be performed in other manners, for example, after determining the maximum angle of lateral pitching, a unit angle is preset, and the linear distance of the center point of the end face is measured when the cantilever shaft is pitching by the unit angle, which is not limited in particular.

After the unit distance corresponding to the unit angle of pitching of the cantilever shaft along the x-axis direction is calibrated in advance, the lateral correction amount of the cantilever shaft can be determined by combining the lateral pitching amount obtained in the step 203, and the lateral correction amount is a vector, including the lateral correction distance and the lateral correction direction, and specifically, the lateral correction amount can be determined by the following steps:

step one, determining a transverse correction distance corresponding to a transverse pitching angle according to a unit distance corresponding to a unit angle of pitching of a cantilever shaft along the x-axis direction calibrated in advance and the transverse pitching angle of the transverse pitching amount.

And step two, determining the opposite direction of the transverse pitching amount as the transverse correction direction.

And thirdly, determining the transverse correction distance and the transverse correction direction as the transverse correction quantity of the cantilever shaft.

Illustratively, the unit angle by which the cantilever axis is pitched along the x-axis direction is 1.2 °, the corresponding unit distance is 0.2cm, the lateral pitch angle by which the lateral pitch amount is 15 °, and the lateral correction distance corresponding to the lateral pitch angle is 15++1.2x0.2=2.5 cm. The lateral pitch direction of the lateral pitch amount is the positive x-axis direction, and the lateral correction direction is the negative x-axis direction, so the lateral correction amount is-2.5 cm.

205: and determining the longitudinal correction amount of the cantilever shaft according to the unit distance corresponding to the unit angle of pitching of the cantilever shaft along the z-axis direction and the longitudinal pitching amount.

In one possible embodiment, the unit distance corresponding to the unit angle at which the cantilever axis is pitched in the z-axis direction can be calibrated by:

the method comprises the steps of obtaining a third limit angle which can be achieved by pitching the cantilever shaft along the positive direction of the z axis, and obtaining a first z axis coordinate of a center point of the end face of the cantilever shaft when the cantilever shaft is pitching to the third limit angle.

Specifically, the cantilever shaft can be controlled to swing to the limit position along the positive direction of the z axis of the current coordinate system, and at the moment, the included angle between the central axis of the cantilever shaft and the y axis is the third limit angle, and the third limit angle is a positive value.

When the cantilever shaft is pitching to a third limit angle, at this time, the z-axis coordinate of the center point of the end face of the cantilever shaft is the first z-axis coordinate, and the first z-axis coordinate is a positive value.

And a second step of acquiring a fourth limit angle which can be achieved by pitching the cantilever shaft along the negative direction of the z axis, and acquiring a second z axis coordinate of the center point of the end face of the cantilever shaft when the cantilever shaft is pitching to the fourth limit angle.

Specifically, the cantilever shaft can be controlled to swing to the limit position along the negative direction of the z axis of the current coordinate system, and at the moment, the included angle between the central axis of the cantilever shaft and the y axis is the fourth limit angle, and the fourth limit angle is a negative value.

When the cantilever shaft is pitching to the fourth limit angle, the z-axis coordinate of the center point of the end face of the cantilever shaft is the second z-axis coordinate, and the second z-axis coordinate is a negative value.

And thirdly, determining the sum of the absolute value of the third limit angle and the absolute value of the fourth limit angle as the longitudinal pitching maximum angle.

And fourthly, determining the absolute value of the difference value between the first z-axis coordinate and the second z-axis coordinate as the longitudinal pitching maximum distance of the cantilever axis pitching along the z-axis direction.

And fifthly, equally dividing the longitudinal pitching maximum angle according to the preset longitudinal unit equal dividing quantity to obtain the unit angle of pitching of the cantilever shaft along the z-axis direction.

Specifically, the number of the longitudinal unit aliquots can be set according to actual needs, and in general, the more the number of aliquots is set, the more accurate the calibration should be, and the setting should be within a reasonable range.

And sixthly, equally dividing the maximum longitudinal pitching distance according to the longitudinal unit equally dividing quantity to obtain the unit distance corresponding to the unit angle of pitching of the cantilever shaft along the z-axis direction.

Illustratively, the third limit angle that can be reached by pitching the cantilever shaft along the positive z-axis direction is 60 °, the first z-axis coordinate of the center point of the end face of the cantilever shaft is 15m, the fourth limit angle that can be reached by pitching the cantilever shaft along the negative z-axis direction is-60 °, the second z-axis coordinate of the center point of the end face of the cantilever shaft is-15 m, the longitudinal unit dividing number is 100, the maximum longitudinal pitching angle is 120 °, the maximum longitudinal pitching distance is 30m, the unit angle of pitching of the cantilever shaft along the z-axis direction is 1.2 °, and the unit distance corresponding to the unit angle of pitching of the cantilever shaft along the z-axis direction is 0.3m.

In other possible embodiments, calibration may be performed in other manners, for example, after determining the maximum longitudinal pitch angle, a unit angle is preset, and the linear distance of the center point of the end face is measured when the cantilever shaft is pitched by the unit angle, which is not limited in particular.

After the unit distance corresponding to the unit angle of pitching of the cantilever shaft along the z-axis direction is calibrated in advance, the longitudinal correction amount of the cantilever shaft can be determined by combining the longitudinal pitching amount obtained in the step 203, and the longitudinal correction amount is a vector, including the longitudinal correction distance and the longitudinal correction direction, and specifically, the longitudinal correction amount can be determined by the following steps:

step one, determining a longitudinal correction distance corresponding to a longitudinal pitching angle according to a unit distance corresponding to a unit angle of pitching of a cantilever shaft along the z-axis direction calibrated in advance and the longitudinal pitching angle of a longitudinal pitching amount.

And secondly, determining the opposite direction of the longitudinal pitching amount as a longitudinal correction direction.

And thirdly, determining the longitudinal correction distance and the longitudinal correction direction as the longitudinal correction quantity of the cantilever shaft.

Illustratively, the unit angle by which the cantilever axis is pitched along the z-axis direction is 1.2 °, the corresponding unit distance is 0.3m, and the longitudinal pitch angle by which the longitudinal pitch amount is 12 °, then the longitudinal correction distance corresponding to the longitudinal pitch angle is 12++1.2x0.3=3 cm. The longitudinal pitch direction of the longitudinal pitch amount is the negative z-axis direction, and the longitudinal correction direction is the positive z-axis direction, so the longitudinal correction amount is +3cm.

206: the sum of the lateral displacement amount of the cantilever axis along the x-axis direction and the lateral correction amount is determined as the adjustment amount along the x-axis direction.

The transverse displacement is obtained according to the current position deviation.

The lateral displacement amount can be obtained specifically by:

first, the absolute value of the current x-axis deviation is determined as the lateral displacement distance of the cantilever axis in the x-axis direction.

Then, the x direction corresponding to the current x-axis deviation is determined as the lateral displacement direction of the cantilever axis along the x-axis direction.

And finally, determining the transverse displacement distance and the transverse displacement direction as the transverse displacement amount.

For example, the reference x-axis coordinate of the center point of the end surface of the machine table butt-joint shaft is +5cm, the current x-axis coordinate of the center point of the end surface of the cantilever shaft is-3 cm, the current x-axis deviation= +5- (-3) =8 cm, and the corresponding x-direction is the positive x-axis direction, so the lateral displacement distance of the cantilever shaft along the x-axis direction is 8cm, and the lateral displacement direction is the positive x-axis direction.

207: the sum of the longitudinal displacement amount of the cantilever shaft along the z-axis direction and the longitudinal correction amount is determined as the adjustment amount along the z-axis direction.

Wherein, the longitudinal displacement is obtained according to the current position deviation.

The longitudinal displacement amount can be obtained specifically by:

First, the absolute value of the current z-axis deviation is determined as the longitudinal displacement distance of the cantilever axis in the z-axis direction.

Then, the z direction corresponding to the current z-axis deviation is determined as the longitudinal displacement direction of the cantilever axis along the z-axis direction.

And finally, determining the longitudinal displacement distance and the longitudinal displacement direction as the longitudinal displacement amount.

208: the position of the cantilever shaft is adjusted according to the adjustment amount in the x-axis direction and the adjustment amount in the z-axis direction.

209: and adjusting the pitching angle of the cantilever shaft according to the transverse pitching amount and the longitudinal pitching amount.

In this way, the embodiment of the invention provides a cantilever shaft butt joint control method, which takes a machine butt joint shaft as a reference, obtains the current position deviation and the angle deviation of a cantilever shaft and the machine butt joint shaft under the current coordinate system, obtains the transverse pitching amount and the longitudinal pitching amount of the cantilever shaft according to the angle deviation, respectively determines the transverse correction amount and the longitudinal correction amount of the cantilever shaft by combining the unit distance corresponding to the unit angle of pitching of the cantilever shaft along the x-axis direction and the unit distance corresponding to the unit angle of pitching of the cantilever shaft along the z-axis, and obtains the final adjustment amount after summing the transverse displacement amount and the longitudinal displacement amount obtained according to the current position deviation and the corresponding transverse correction amount and the longitudinal correction amount respectively, adjusts the position of the cantilever shaft according to the final adjustment amount in each direction, and adjusts the pitching angle of the cantilever shaft according to the transverse pitching amount and the longitudinal pitching amount. According to the whole butt joint control method, pitching angles and distances of the cantilever shafts in the x-axis direction and the z-axis direction are calibrated in advance to form reverse adjustment standards, reverse thrust thinking is adopted in the practical application process, after the relative position is detected, forward calibration adjustment data of the reverse adjustment standards are directly called, calculated displacement is corrected and then adjusted, and therefore one-time adjustment can be achieved, the problem of repeated adjustment is avoided, and the adjustment process is simple.

The following are examples of the apparatus of the present invention that may be used to perform the method embodiments of the present invention. For details not disclosed in the embodiments of the apparatus of the present invention, please refer to the embodiments of the method of the present invention.

Fig. 4 schematically illustrates a structural diagram of a cantilever-shaft docking control apparatus according to an embodiment of the present invention. As shown in fig. 4, the device has a function of implementing the cantilever shaft butt joint control method, and the function can be implemented by hardware or by executing corresponding software by hardware. The apparatus may include: a current position deviation acquisition module 401, an angle deviation acquisition module 402, a pitch amount acquisition module 403, a lateral correction amount determination module 404, a longitudinal correction amount determination module 405, an adjustment amount determination module 406 in the x-axis direction, an adjustment amount determination module 407 in the z-axis direction, a position adjustment module 408, and a pitch angle adjustment module 409.

The current position deviation obtaining module 401 is configured to obtain, in a current coordinate system, a current position deviation of the cantilever shaft and the platform butt joint shaft, where a y-axis direction of the current coordinate system is a central axis direction of the cantilever shaft in the initial position, an x-axis direction is a horizontal direction perpendicular to the cantilever shaft, a z-axis direction is a vertical direction perpendicular to the cantilever shaft, and an origin is any point on the central axis of the cantilever shaft.

The angular deviation obtaining module 402 is configured to obtain an angular deviation of an end face of the cantilever shaft relative to an end face of the machine butt axle.

The pitch amount acquisition module 403 is configured to acquire a lateral pitch amount of the cantilever shaft along the x-axis direction and a longitudinal pitch amount of the cantilever shaft along the z-axis direction according to the angle deviation.

The lateral correction amount determining module 404 is configured to determine a lateral correction amount of the cantilever shaft according to a unit distance corresponding to a unit angle of pitching of the cantilever shaft along the x-axis direction, which is calibrated in advance, and a lateral pitching amount.

The longitudinal correction amount determining module 405 is configured to determine a longitudinal correction amount of the cantilever shaft according to a unit distance corresponding to a unit angle of pitching of the cantilever shaft along the z-axis direction, which is calibrated in advance, and a longitudinal pitching amount.

And the adjustment amount determining module 406 in the x-axis direction is configured to determine, as the adjustment amount in the x-axis direction, the sum of the lateral displacement amount of the cantilever axis along the x-axis direction and the lateral correction amount, where the lateral displacement amount is obtained according to the current position deviation.

The adjustment amount determining module 407 is configured to determine, as the adjustment amount in the z-axis direction, the sum of the longitudinal displacement amount of the cantilever axis along the z-axis direction and the longitudinal correction amount, where the longitudinal displacement amount is obtained according to the current position deviation.

The position adjustment module 408 is configured to adjust the position of the cantilever shaft according to the adjustment amount in the x-axis direction and the adjustment amount in the z-axis direction.

The pitch angle adjusting module 409 is configured to adjust a pitch angle of the cantilever shaft according to the lateral pitch amount and the longitudinal pitch amount.

In an alternative embodiment, the unit distance corresponding to the unit angle of pitch of the cantilever axis along the x-axis direction is calibrated by:

and acquiring a first limit angle which can be reached by pitching the cantilever shaft along the positive direction of the x axis, and acquiring a first x axis coordinate of a center point of the end face of the cantilever shaft when the cantilever shaft is pitching to the first limit angle.

And acquiring a second limit angle which can be achieved by pitching the cantilever shaft along the negative direction of the x axis, and acquiring a second x axis coordinate of the center point of the end face of the cantilever shaft when the cantilever shaft is pitching to the second limit angle.

The sum of the absolute value of the first limit angle and the absolute value of the second limit angle is determined as the lateral pitch maximum angle.

The absolute value of the difference between the first x-axis coordinate and the second x-axis coordinate is determined as the maximum lateral pitch distance at which the cantilever axis is pitched in the x-axis direction.

And equally dividing the transverse pitching maximum angle according to the preset transverse unit equal dividing quantity to obtain the unit angle of pitching of the cantilever shaft along the x-axis direction.

And equally dividing the maximum distance of the transverse pitching according to the equal number of the transverse units to obtain the unit distance corresponding to the unit angle of pitching of the cantilever shaft along the x-axis direction.

In an alternative embodiment, lateral correction amount determination module 404 includes:

the transverse correction distance determining sub-module is used for determining the transverse correction distance corresponding to the transverse pitching angle according to the unit distance corresponding to the unit angle of pitching of the cantilever shaft along the x-axis direction, which is calibrated in advance, and the transverse pitching angle of the transverse pitching amount.

The lateral correction direction determination sub-module is used for determining the direction opposite to the lateral pitch direction of the lateral pitch amount as the lateral correction direction.

And the transverse correction amount determination submodule is used for determining the transverse correction distance and the transverse correction direction as the transverse correction amount of the cantilever shaft.

In an alternative embodiment, the unit distance corresponding to the unit angle of pitch of the cantilever axis along the z-axis direction is calibrated by:

and acquiring a third limit angle which can be achieved by pitching the cantilever shaft along the positive direction of the z axis, and acquiring a first z axis coordinate of a center point of the end face of the cantilever shaft when the cantilever shaft is pitching to the third limit angle.

And acquiring a fourth limit angle which can be achieved by pitching the cantilever shaft along the negative direction of the z axis, and acquiring a second z axis coordinate of the center point of the end face of the cantilever shaft when the cantilever shaft is pitching to the fourth limit angle.

And determining the sum of the absolute value of the third limit angle and the absolute value of the fourth limit angle as the longitudinal pitching maximum angle.

The absolute value of the difference between the first z-axis coordinate and the second z-axis coordinate is determined as the maximum longitudinal pitch distance of the cantilever axis in the z-axis direction.

And equally dividing the longitudinal pitching maximum angle according to the preset longitudinal unit equal dividing quantity to obtain the unit angle of pitching of the cantilever shaft along the z-axis direction.

In an alternative embodiment, the longitudinal modifier determination module 405 includes:

the longitudinal correction distance determination sub-module is used for determining the longitudinal correction distance corresponding to the longitudinal pitching angle according to the unit distance corresponding to the unit angle of pitching of the cantilever shaft along the z-axis direction calibrated in advance and the longitudinal pitching angle of the longitudinal pitching amount.

The longitudinal correction direction determination sub-module is used for determining the opposite direction of the longitudinal pitch amount as the longitudinal correction direction.

The longitudinal correction determining submodule is used for determining the longitudinal correction distance and the longitudinal correction direction as the longitudinal correction of the cantilever shaft.

In an alternative embodiment, the current position deviation obtaining module 401 includes:

and the reference coordinate acquisition sub-module is used for acquiring the reference x-axis coordinate and the reference z-axis coordinate of the center point of the end face of the machine butt joint shaft.

And the current coordinate acquisition sub-module is used for acquiring the current x-axis coordinate and the current z-axis coordinate of the center point of the end face of the cantilever shaft.

The current deviation determining sub-module is used for determining a difference value between the reference x-axis coordinate and the current x-axis coordinate as a current x-axis deviation and determining a difference value between the reference z-axis coordinate and the current z-axis coordinate as a current z-axis deviation.

The current position deviation determining sub-module is used for determining the current x-axis deviation and the current z-axis deviation as the current position deviation of the cantilever shaft and the machine butt joint shaft.

In an alternative embodiment, the lateral displacement is obtained by:

the absolute value of the current x-axis deviation is determined as the lateral displacement distance of the cantilever axis along the x-axis direction.

And determining the x direction corresponding to the current x-axis deviation as the transverse displacement direction of the cantilever axis along the x-axis direction.

The lateral displacement distance and the lateral displacement direction are determined together as the lateral displacement amount.

In an alternative embodiment, the longitudinal displacement is obtained by:

the absolute value of the current z-axis deviation is determined as the longitudinal displacement distance of the cantilever axis along the z-axis direction.

And determining the z direction corresponding to the current z-axis deviation as the longitudinal displacement direction of the cantilever axis along the z-axis direction.

The longitudinal displacement distance and the longitudinal displacement direction are determined together as the longitudinal displacement amount.

In an alternative embodiment, the angular deviation acquisition module 402 includes:

the angular deviation of the end face of the cantilever shaft with respect to the end face of the machine butt shaft is acquired by a probe provided in advance on the end face of the cantilever shaft.

In this way, the embodiment of the invention provides a cantilever shaft butt joint control device, which takes a machine butt joint shaft as a reference, obtains the current position deviation and the angle deviation of a cantilever shaft and the machine butt joint shaft under the current coordinate system, obtains the transverse pitching amount and the longitudinal pitching amount of the cantilever shaft according to the angle deviation, respectively determines the transverse correction amount and the longitudinal correction amount of the cantilever shaft by combining the unit distance corresponding to the unit angle of pitching of the cantilever shaft along the x-axis direction and the unit distance corresponding to the unit angle of pitching of the cantilever shaft along the z-axis, and obtains the final adjustment amount after summing the transverse displacement amount and the longitudinal displacement amount obtained according to the current position deviation and the corresponding transverse correction amount and the longitudinal correction amount respectively, adjusts the position of the cantilever shaft according to the final adjustment amount in each direction, and adjusts the pitching angle of the cantilever shaft according to the transverse pitching amount and the longitudinal pitching amount. According to the whole butt joint control method, pitching angles and distances of the cantilever shafts in the x-axis direction and the z-axis direction are calibrated in advance to form reverse adjustment standards, reverse thrust thinking is adopted in the practical application process, after the relative position is detected, forward calibration adjustment data of the reverse adjustment standards are directly called, calculated displacement is corrected and then adjusted, and therefore one-time adjustment can be achieved, the problem of repeated adjustment is avoided, and the adjustment process is simple.

The application has been described in detail in connection with the specific embodiments and exemplary examples thereof, but such description is not to be construed as limiting the application. It will be understood by those skilled in the art that various equivalent substitutions, modifications or improvements may be made to the technical solution of the present application and its embodiments without departing from the spirit and scope of the present application, and these fall within the scope of the present application. The scope of the application is defined by the appended claims.

Claims

1. The cantilever shaft butt joint control method is used for controlling a cantilever shaft in a feeding device to butt joint with a machine butt joint shaft in a target device and is characterized by comprising the following steps of:

Determining a transverse correction amount of the cantilever shaft according to a unit distance corresponding to a unit angle of pitching of the cantilever shaft along the x-axis direction, which is calibrated in advance, and the transverse pitching amount; according to the limit angle which can be reached by pitching the cantilever shaft along the x-axis direction, determining a unit distance corresponding to a unit angle of pitching the cantilever shaft along the x-axis direction;

determining a longitudinal correction amount of the cantilever shaft according to a unit distance corresponding to a unit angle of pitching of the cantilever shaft along the z-axis direction, which is calibrated in advance, and the longitudinal pitching amount; according to the limit angle which can be reached by pitching the cantilever shaft along the z-axis direction, determining a unit distance corresponding to a unit angle of pitching the cantilever shaft along the z-axis direction;

2. The method of claim 1, wherein the unit distance corresponding to the unit angle at which the cantilever axis is pitched in the x-axis direction is calibrated by:

3. The method according to claim 2, wherein the determining the lateral correction amount of the cantilever shaft based on the unit distance corresponding to the unit angle by which the cantilever shaft is pitched in the x-axis direction, which is calibrated in advance, and the lateral pitch amount includes:

4. The method of claim 1, wherein the unit distance corresponding to the unit angle at which the cantilever axis is pitched in the z-axis direction is calibrated by:

5. The method according to claim 4, wherein the determining the longitudinal correction amount of the cantilever shaft based on the unit distance corresponding to the unit angle by which the cantilever shaft is pitched in the z-axis direction, which is calibrated in advance, and the longitudinal pitch amount, includes:

6. The method of claim 1, wherein the obtaining the current positional deviation of the cantilever shaft from the machine docking shaft comprises:

7. The method according to claim 6, wherein the lateral displacement is obtained by:

8. The method according to claim 6, wherein the longitudinal displacement is obtained by:

9. The method of claim 1, wherein the obtaining an angular deviation of the end face of the cantilever shaft relative to the end face of the machine counter-shaft comprises:

10. The utility model provides a cantilever axle butt joint controlling means for control cantilever axle in loading attachment carries out butt joint with the board butt joint axle in the target device, its characterized in that includes:

the longitudinal correction amount determining module is used for determining the longitudinal correction amount of the cantilever shaft according to a unit distance corresponding to a unit angle of pitching of the cantilever shaft along the z-axis direction, which is calibrated in advance, and the longitudinal pitching amount; according to the limit angle which can be reached by pitching the cantilever shaft along the x-axis direction, determining a unit distance corresponding to a unit angle of pitching the cantilever shaft along the x-axis direction;

the adjustment amount determining module in the z-axis direction is used for determining the sum of the longitudinal displacement amount of the cantilever shaft along the z-axis direction and the longitudinal correction amount as the adjustment amount in the z-axis direction, and the longitudinal displacement amount is acquired according to the current position deviation; according to the limit angle which can be reached by pitching the cantilever shaft along the z-axis direction, determining a unit distance corresponding to a unit angle of pitching the cantilever shaft along the z-axis direction;